JPH04369492A - Gps position measurement device - Google Patents

Gps position measurement device

Info

Publication number
JPH04369492A
JPH04369492A JP3146039A JP14603991A JPH04369492A JP H04369492 A JPH04369492 A JP H04369492A JP 3146039 A JP3146039 A JP 3146039A JP 14603991 A JP14603991 A JP 14603991A JP H04369492 A JPH04369492 A JP H04369492A
Authority
JP
Japan
Prior art keywords
data
gps
positioning
current position
altitude
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP3146039A
Other languages
Japanese (ja)
Inventor
Masaru Masumoto
増本　優
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pioneer Corp
Original Assignee
Pioneer Electronic Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Electronic Corp filed Critical Pioneer Electronic Corp
Priority to JP3146039A priority Critical patent/JPH04369492A/en
Priority to US07/897,710 priority patent/US5210540A/en
Priority to DE4219929A priority patent/DE4219929B4/en
Priority to GB9213105A priority patent/GB2256987B/en
Publication of JPH04369492A publication Critical patent/JPH04369492A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

PURPOSE:To enable outputting present position data even when only two dimensional measurement is possible, by calculating according to the GPS measurement data output for two dimensional position measurement based on this and a relative elevation data. CONSTITUTION:A GPS receiver 11 receives a wave from the GPS satellite and outputs a GPS measurement data DG including latitude, longitude and height. A barometric height meter 13 outputs a relative height data Z2 corresponding to the height difference between the present position and a standard position. A controller 14 having a present position data output part 15 outputs the present position data based on the data DG when the receiver 11 can do three dimensional measurement. If only two dimensional measurement is possible, the present position data DPOS is outputted by obtaining the absolute height data based on that data and data Z2. The controller 14 matches this a map data M read out of a CD-ROM drive 16, and indicates the self-car position on a display 17.

Description

【発明の詳細な説明】[Detailed description of the invention]

【０００１】0001

【産業上の利用分野】本発明は、移動体の現在位置を測
位するＧＰＳ（Ｇｒｏｂａｌ　Ｐｏｓｉｔｉｏｎｉｎｇ
　Ｓｙｓｔｅｍ）測位装置に関する。[Industrial Application Field] The present invention uses GPS (Global Positioning) to measure the current position of a moving object.
System) related to positioning devices.

【０００２】0002

【従来の技術】従来、移動体の現在位置を知るための装
置としてＧＰＳ測位装置が知られている。このＧＰＳ測
位装置は、通常３個以上のＧＰＳ衛星から電波を受信し
、各ＧＰＳ衛星と受信点との間の受信機の時刻オフセッ
トを含んだ疑似距離データ及び各ＧＰＳ衛星の位置デー
タより受信点の位置を測定するように構成されている。2. Description of the Related Art Conventionally, a GPS positioning device is known as a device for determining the current location of a moving object. This GPS positioning device usually receives radio waves from three or more GPS satellites, and uses pseudorange data including the receiver time offset between each GPS satellite and the reception point, and the position data of each GPS satellite to determine the reception point. is configured to measure the position of.

【０００３】この場合において、移動体の２次元測位（
緯度および経度の測定）を行うためには、３個のＧＰＳ
衛星についての疑似距離データを測定する必要がある。 これは数学的には２次元位置という２つの未知数に加え
て、ＧＰＳ衛星の時計と受信機の時計のずれ、すなわち
、受信機の時刻オフセットという３つめの未知数がある
ため３つの測定値が必要であるということである。 したがって、ＧＰＳ測位装置において、高度を含めた３
次元の位置測定（３次元測位）を行う場合には未知数が
４つになるため４個のＧＰＳ衛星についての測定が必要
となる。In this case, two-dimensional positioning (
To measure latitude and longitude, three GPS
It is necessary to measure pseudorange data about the satellite. Mathematically, in addition to the two unknowns of the two-dimensional position, there is a third unknown: the difference between the GPS satellite's clock and the receiver's clock, that is, the receiver's time offset, so three measured values are required. That is to say. Therefore, in a GPS positioning device, 3
When performing dimensional positioning (three-dimensional positioning), there are four unknowns, so measurements for four GPS satellites are required.

【０００４】しかしながら、実際に車両等の移動体にお
いてＧＰＳ測位装置を用いた場合には、ビル等の建造物
、樹木等によりいずれかのＧＰＳ衛星がシールドされ、
３個の衛星からの電波しか受信できないことがある。こ
の様な場合には、ＧＰＳ測位装置は２次元測位しか行う
ことができず、出力データは緯度および経度のみのデー
タとなり、高度データを得ることはできないことになる
。However, when a GPS positioning device is actually used in a moving object such as a vehicle, some of the GPS satellites are shielded by structures such as buildings, trees, etc.
Sometimes it is possible to receive radio waves from only three satellites. In such a case, the GPS positioning device can only perform two-dimensional positioning, and the output data is only latitude and longitude data, and it is not possible to obtain altitude data.

【０００５】そこで、従来のＧＰＳ測位装置においては
、上述のような理由で３次元測位から２次元測位への変
更を余儀無くされた場合、高度データを補償するために
、前回の３次元測位時の高度データを保持し、その前回
の高度データを使用して近似的に３次元測位のデータを
得るようにしていた。[0005] Therefore, in conventional GPS positioning devices, when it is necessary to change from 3D positioning to 2D positioning for the reasons mentioned above, in order to compensate for the altitude data, the previous 3D positioning The previous altitude data is used to approximately obtain three-dimensional positioning data.

【０００６】図７に従来のＧＰＳ測位装置の動作フロー
チャートを示す。まず、ＧＰＳ測位装置の図示しないコ
ントローラは、３次元測位が可能か否かを判別する（ス
テップＳ２０）。３次元測位が可能な場合、すなわち、
４個のＧＰＳ衛星から電波を受信することが可能な場合
には、それらの受信電波から現在位置を計算し（ステッ
プＳ２１）、緯度データＸ１　、経度データＹ１　、高
度データＺ１　を出力し（ステップＳ２２）、処理を終
了する。ステップＳ２０の判別において３次元測位が不
可能な場合、２次元測位が可能か否かを判別する（ステ
ップＳ２３）。２次元測位が可能な場合、すなわち、３
個のＧＰＳ衛星から電波を受信することが可能な場合に
は、それらの受信電波から現在位置の緯度データＸ２　
、経度データＹ２　を計算する（ステップＳ２４）。さ
らに、緯度データＸ２　、経度データＹ２　及び前回の
３次元測位で得られた高度データＺ１　を出力して疑似
３次元測位データとして出力する（ステップＳ２５）。 ステップＳ２３の判別において２次元測位が不可能な場
合には、現在位置データを出力せず（ステップＳ２６）
、処理を終了する。FIG. 7 shows an operation flowchart of a conventional GPS positioning device. First, a controller (not shown) of the GPS positioning device determines whether three-dimensional positioning is possible (step S20). If 3D positioning is possible, i.e.
If it is possible to receive radio waves from four GPS satellites, the current position is calculated from the received radio waves (step S21), and latitude data X1, longitude data Y1, and altitude data Z1 are output (step S22). ), the process ends. If three-dimensional positioning is not possible in the determination in step S20, it is determined whether two-dimensional positioning is possible (step S23). If 2D positioning is possible, that is, 3
If it is possible to receive radio waves from GPS satellites, the latitude data of the current position from those received radio waves
, longitude data Y2 is calculated (step S24). Further, the latitude data X2, longitude data Y2, and altitude data Z1 obtained in the previous three-dimensional positioning are output as pseudo three-dimensional positioning data (step S25). If two-dimensional positioning is not possible in the determination in step S23, current position data is not output (step S26).
, ends the process.

【０００７】[0007]

【発明が解決しようとする課題】上記従来のＧＰＳ測位
装置によれば、２次元測位しか行えない場合には、前回
の３次元測位時の高度データを用いているので、山を上
るような場合のように、移動体がその高度を大きく変え
るとそれにつれて誤差も増えるという不具合があった。[Problem to be Solved by the Invention] According to the above-mentioned conventional GPS positioning device, when only two-dimensional positioning is possible, the altitude data from the previous three-dimensional positioning is used, so when climbing a mountain, etc. There was a problem in that when a moving object changes its altitude significantly, the error increases accordingly.

【０００８】そこで本発明は、２次元測位しか行えない
場合でも、正しい現在位置データを出力することが可能
なＧＰＳ測位装置を提供することを目的とする。SUMMARY OF THE INVENTION An object of the present invention is to provide a GPS positioning device that can output accurate current position data even when only two-dimensional positioning is possible.

【０００９】[0009]

【課題を解決するための手段】図１に第１の発明の原理
説明図を示す。ＧＰＳ測位装置１００は、ＧＰＳ衛星か
らの電波を受信して、自己の現在位置を測定してＧＰＳ
測位データＤを出力するＧＰＳ測位手段１０１と、ある
基準位置と自己の現在位置との高度差に相当する相対高
度を検出し相対高度データＨＣ　を出力する相対高度検
出手段１０２と、ＧＰＳ測位手段１０１が２次元測位の
ＧＰＳ測位データＤＧ２を出力している場合に、２次元
測位のＧＰＳ測位データＤＧ２および相対高度データＨ
Ｃ　に基づいて現在位置データＤＰＯＳ　を演算し出力
する現在位置演算手段１０３と、を備えて構成する。[Means for Solving the Problems] FIG. 1 shows a diagram illustrating the principle of the first invention. The GPS positioning device 100 receives radio waves from GPS satellites, measures its own current position, and uses the GPS
GPS positioning means 101 that outputs positioning data D; relative altitude detection means 102 that detects a relative altitude corresponding to the altitude difference between a certain reference position and its current position and outputs relative altitude data HC; and GPS positioning means 101. outputs GPS positioning data DG2 for two-dimensional positioning, GPS positioning data DG2 for two-dimensional positioning and relative altitude data H
and current position calculation means 103 that calculates and outputs current position data DPOS based on C.

【００１０】図２に第２の発明の原理説明図を示す。Ｇ
ＰＳ測位装置２００は、ＧＰＳ衛星からの電波を受信し
て、緯度データＤＬＡおよび経度データＤＬＯを含むＧ
ＰＳ測位データＤＧ　を出力するＧＰＳ測位手段２０１
と、緯度データＤＬＡおよび経度データＤＬＯに対応す
る高度データＤＨ　を記憶する高度データ記憶手段２０
２と、ＧＰＳ測位手段２０１が２次元測位を行っている
場合に、緯度データＤＬＡおよび経度データＤＬＯに基
づいて、高度データ記憶手段２０２から高度データＤＨ
　を読み出し、現在位置データＤＰＯＳ　を出力する現
在位置演算手段２０３と、を備えて構成する。FIG. 2 shows a diagram explaining the principle of the second invention. G
The PS positioning device 200 receives radio waves from GPS satellites and generates GPS signals including latitude data DLA and longitude data DLO.
GPS positioning means 201 that outputs PS positioning data DG
and altitude data storage means 20 for storing altitude data DH corresponding to latitude data DLA and longitude data DLO.
2, when the GPS positioning means 201 is performing two-dimensional positioning, the altitude data DH is retrieved from the altitude data storage means 202 based on the latitude data DLA and the longitude data DLO.
and current position calculation means 203 for reading the current position data DPOS and outputting the current position data DPOS.

【００１１】[0011]

【作用】第１の発明によれば、相対高度検出手段１０２
は、相対高度を検出し相対高度データＨＣ　を出力する
。 現在位置演算手段１０３は、ＧＰＳ測位手段１０１が２
次元測位のＧＰＳ測位データＤＧ２を出力している場合
には、２次元測位のＧＰＳ測位データＤＧ２および相対
高度データＨＣ　に基づいて現在位置データＤＰＯＳ　
を演算し出力する。したがって、ＧＰＳ測位装置は、Ｇ
ＰＳ測位手段が２次元測位しか行えない場合でも、相対
高度データに基づいて、正しい現在位置データを出力す
ることができる。[Operation] According to the first invention, the relative altitude detection means 102
detects relative altitude and outputs relative altitude data HC. The current position calculation means 103 calculates that the GPS positioning means 101 is
When dimensional positioning GPS positioning data DG2 is output, current position data DPOS is output based on two-dimensional positioning GPS positioning data DG2 and relative altitude data HC.
Calculate and output. Therefore, the GPS positioning device
Even if the PS positioning means can only perform two-dimensional positioning, correct current position data can be output based on relative altitude data.

【００１２】第２の発明によれば、ＧＰＳ測位手段２０
１は、ＧＰＳ衛星からの電波を受信して、緯度データＤ
ＬＡおよび経度データＤＬＯを含むＧＰＳ測位データを
出力する。高度データ記憶手段２０２は、緯度データＤ
ＬＡおよび経度データＤＬＯに対応する高度データＤＨ
　を記憶する。現在位置演算手段２０３は、ＧＰＳ測位
手段２０１が２次元測位を行っている場合に、緯度デー
タＤＬＡおよび経度データＤＬＯに基づいて、高度デー
タ記憶手段２０２から高度データＤＨ　を読み出し、現
在位置データＤＰＯＳ　を出力する。したがって、ＧＰ
Ｓ測位装置は、ＧＰＳ測位手段が２次元測位しか行えな
い場合でも、記憶している高度データに基づいて正しい
現在位置データを出力することができる。According to the second invention, the GPS positioning means 20
1 receives radio waves from GPS satellites and receives latitude data D.
Outputs GPS positioning data including LA and longitude data DLO. The altitude data storage means 202 stores latitude data D.
Altitude data DH corresponding to LA and longitude data DLO
Remember. When the GPS positioning means 201 is performing two-dimensional positioning, the current position calculation means 203 reads altitude data DH from the altitude data storage means 202 based on the latitude data DLA and longitude data DLO, and stores the current position data DPOS. Output. Therefore, G.P.
The S positioning device can output correct current position data based on the stored altitude data even if the GPS positioning means can only perform two-dimensional positioning.

【００１３】[0013]

【実施例】次に、図３乃至図６を参照して本発明の実施
例を説明する。 第１実施例 図３に第１の発明にかかるＧＰＳ測位装置を車載用のナ
ビゲーションシステムに適用した場合の基本構成ブロッ
ク図を示す。Embodiment Next, an embodiment of the present invention will be described with reference to FIGS. 3 to 6. First Embodiment FIG. 3 shows a basic configuration block diagram when the GPS positioning device according to the first invention is applied to an on-vehicle navigation system.

【００１４】ナビゲーションシステム１０は、ＧＰＳレ
シーバ１１を有し、このＧＰＳレシーバ１１がＧＰＳア
ンテナ１２を介してＧＰＳ衛星からの電波を受信し、緯
度データ、経度データ、高度データ等を含むＧＰＳ測位
データＤＧ　を出力する。The navigation system 10 has a GPS receiver 11, which receives radio waves from GPS satellites via a GPS antenna 12, and receives GPS positioning data DG including latitude data, longitude data, altitude data, etc. Output.

【００１５】気圧高度計１３は、現在位置と所定の基準
位置との高度差に相当する相対高度データＺ２　を出力
する。この相対高度データＺ２　は、ＧＰＳレシーバ１
１により出力される高度データに対応する絶対高度（海
抜０ｍを基準位置とする高度）を基準位置として用いて
較正することにより、絶対高度データとして用いること
ができる。The barometric altimeter 13 outputs relative altitude data Z2 corresponding to the altitude difference between the current position and a predetermined reference position. This relative altitude data Z2 is the GPS receiver 1
By calibrating the absolute altitude (altitude with sea level as the reference position) corresponding to the altitude data output by No. 1 as a reference position, the altitude data can be used as absolute altitude data.

【００１６】コントローラ１４は、現在位置データ出力
部１５を有している。この現在位置データ出力部１５は
ＧＰＳレシーバ１１が３次元測位可能な場合には、ＧＰ
Ｓレシーバ１１のＧＰＳ測位データＤＧ　に基づいて現
在位置データを出力する。また、ＧＰＳレシーバ１１が
２次元測位しかできない場合には、ＧＰＳレシーバ１１
から出力される緯度データ、経度データ並びに気圧高度
計１３から出力される相対高度データに基づいて絶対高
度データを求めることにより現在位置データＤＰＯＳ　
を出力する。コントローラ１４は、この現在位置データ
ＤＰＯＳ　およびＣＤ−ＲＯＭドライブ１６より読出し
た地図データＭとマップマッチングを行って、ディスプ
レイ１７に自車位置を地図上に表示するための表示デー
タを出力する。ディスプレイ１７には、緯度データおよ
び経度データに基づく自車位置が表示され、高度データ
が数字等で表示される。The controller 14 has a current position data output section 15. When the GPS receiver 11 is capable of three-dimensional positioning, this current position data output unit 15
Current position data is output based on the GPS positioning data DG of the S receiver 11. In addition, when the GPS receiver 11 can only perform two-dimensional positioning, the GPS receiver 11
The current position data DPOS is obtained by determining absolute altitude data based on the latitude data and longitude data output from the barometric altimeter 13 as well as the relative altitude data output from the barometric altimeter 13.
Output. The controller 14 performs map matching with the current position data DPOS and the map data M read from the CD-ROM drive 16, and outputs display data for displaying the own vehicle position on the map on the display 17. On the display 17, the vehicle position based on latitude data and longitude data is displayed, and altitude data is displayed in numbers or the like.

【００１７】この場合において、ＧＰＳレシーバ１３、
気圧高度計１３および現在位置データ出力部１５はＧＰ
Ｓ測位装置として機能している。ここで、ＧＰＳ測位装
置の詳細な動作を図４の動作フローチャートを参照して
説明する。In this case, the GPS receiver 13,
The barometric altimeter 13 and the current position data output unit 15 are GP
It functions as an S positioning device. Here, the detailed operation of the GPS positioning device will be explained with reference to the operation flowchart of FIG.

【００１８】まず現在位置データ出力部１５は、ＧＰＳ
レシーバ１１が３次元測位が可能か否かを判別する（ス
テップＳ１）。３次元測位が可能な場合、すなわち、４
個のＧＰＳ衛星から電波を受信することが可能な場合、
ＧＰＳレシーバ１１は、それらの受信電波から現在位置
を計算し（ステップＳ２）、緯度データＸ１　、経度デ
ータＹ１　、高度データＺ１　をＧＰＳ測位データＤＧ
　として現在位置データ出力部１５に出力する。現在位
置データ出力部１５は、緯度データＸ１　、経度データ
Ｙ１　、高度データＺ１　を現在位置データＤＰＯＳ　
として出力する（ステップＳ３）。First, the current position data output section 15 is a GPS
The receiver 11 determines whether three-dimensional positioning is possible (step S1). If 3D positioning is possible, that is, 4
If it is possible to receive radio waves from GPS satellites,
The GPS receiver 11 calculates the current position from these received radio waves (step S2), and converts the latitude data X1, longitude data Y1, and altitude data Z1 into GPS positioning data DG.
It is output to the current position data output section 15 as a current position data output unit 15. The current position data output unit 15 converts latitude data X1, longitude data Y1, and altitude data Z1 into current position data DPOS.
(step S3).

【００１９】ステップＳ１の判別において３次元測位が
不可能な場合、現在位置データ出力部１５は、ＧＰＳレ
シーバ１１が２次元測位が可能か否かを判別する（ステ
ップＳ４）。If three-dimensional positioning is not possible in the determination in step S1, the current position data output unit 15 determines whether or not the GPS receiver 11 is capable of two-dimensional positioning (step S4).

【００２０】２次元測位が可能な場合、すなわち、３個
のＧＰＳ衛星から電波を受信することが可能な場合には
、ＧＰＳレシーバ１１は、それらの受信電波から現在位
置を計算し（ステップＳ５）、緯度データＸ２　、経度
データＹ２　をＧＰＳ測位データＤＧ　として現在位置
データ出力部１５に出力する。[0020] If two-dimensional positioning is possible, that is, if it is possible to receive radio waves from three GPS satellites, the GPS receiver 11 calculates the current position from the received radio waves (step S5). , latitude data X2, and longitude data Y2 are output to the current position data output section 15 as GPS positioning data DG.

【００２１】一方、気圧高度計１３は相対高度データＺ
２　を常に出力しており、現在位置データ出力部１５は
、ＧＰＳレシーバの前回の３次元測位の際の高度データ
Ｚ１　と、現在の相対高度データＺ２　を比較し偏差を
計算（ステップＳ６）することにより、現在の（絶対）
高度データＺを計算し（ステップＳ５）、緯度データＸ
２　、経度データＹ２　及び高度データＺを現在位置デ
ータＤＰＯＳ　として出力し（ステップＳ７）、処理を
終了する。On the other hand, the barometric altimeter 13 receives relative altitude data Z.
2, and the current position data output unit 15 compares the altitude data Z1 from the previous three-dimensional positioning of the GPS receiver with the current relative altitude data Z2 and calculates a deviation (step S6). The current (absolute)
Calculate altitude data Z (step S5), and calculate latitude data
2. The longitude data Y2 and altitude data Z are output as current position data DPOS (step S7), and the process ends.

【００２２】ステップＳ４の判別において２次元測位が
不可能な場合には、現在位置データ出力部１５は現在位
置データＤＰＯＳ　を出力せず処理を終了する（ステッ
プＳ８）。If it is determined in step S4 that two-dimensional positioning is not possible, the current position data output unit 15 ends the process without outputting the current position data DPOS (step S8).

【００２３】以上の説明のように、ＧＰＳレシーバ１１
が３次元測位可能な場合には、ＧＰＳ測位装置はＧＰＳ
レシーバ１１のＧＰＳ測位データＤＧ　を現在位置デー
タＤＰＯＳ　として出力する。一方、ＧＰＳレシーバ１
１が２次元測位しかできない場合には、ＧＰＳ測位装置
は気圧高度計１３の相対高度データに基づいて、絶対高
度データを求め、この絶対高度データとＧＰＳ測位デー
タにより現在位置データＤＰＯＳ　を出力する。As explained above, the GPS receiver 11
If the GPS positioning device is capable of three-dimensional positioning, the GPS
The GPS positioning data DG of the receiver 11 is output as current position data DPOS. On the other hand, GPS receiver 1
1 is capable of only two-dimensional positioning, the GPS positioning device obtains absolute altitude data based on the relative altitude data of the barometric altimeter 13, and outputs current position data DPOS using this absolute altitude data and the GPS positioning data.

【００２４】したがって、常に正しい現在位置データＤ
ＰＯＳ　を出力することが可能となる。 第２実施例 図５に第１の発明にかかる第２実施例の基本構成を示す
ブロック図を示す。図３の第１実施例と同一の部分には
同一の符号を付し、その詳細な説明を省略する。Therefore, the current position data D is always correct.
It becomes possible to output POS. Second Embodiment FIG. 5 is a block diagram showing the basic configuration of a second embodiment according to the first invention. The same parts as in the first embodiment shown in FIG. 3 are denoted by the same reference numerals, and detailed explanation thereof will be omitted.

【００２５】図３の第１実施例と異なる点は、ＧＰＳレ
シーバ１１が３次元測位から２次元測位に切替わった際
に、前回の３次元測位のＧＰＳレシーバ１１の高度デー
タで気圧高度計１３の相対高度データＺ２　を較正し、
それ以後、相対高度データＺ２　に基づいて絶対高度デ
ータＺＡ　を出力する高度データ較正部１８を備えた点
である。これにより、ＧＰＳレシーバが２次元測位を行
っている場合には、この高度データ較正部１８により出
力される絶対高度データＺＡ　を用いて、現在位置デー
タ出力部１５が現在位置データＤＰＯＳ　を出力するこ
ととなる。The difference from the first embodiment shown in FIG. 3 is that when the GPS receiver 11 switches from three-dimensional positioning to two-dimensional positioning, the barometric altimeter 13 is updated using the altitude data of the GPS receiver 11 from the previous three-dimensional positioning. Calibrate the relative altitude data Z2,
After that, an altitude data calibration section 18 is provided which outputs absolute altitude data ZA based on relative altitude data Z2. As a result, when the GPS receiver is performing two-dimensional positioning, the current position data output unit 15 can output the current position data DPOS using the absolute altitude data ZA output by the altitude data calibration unit 18. becomes.

【００２６】これによりＧＰＳレシーバ１１が３次元測
位から２次元測位に切替わるたびに、高度データ較正部
１８はＧＰＳ測位データＤＧ　中の最新の高度データを
用いて気圧高度計１３の相対高度データＺ２　を較正す
る。 したがって、気圧高度計１３に基づく絶対高度データＺ
Ａ　はより正確なものとなり、現在位置データ出力部１
５はより正しい現在位置データＤＰＯＳ　を出力するこ
とが可能となる。As a result, each time the GPS receiver 11 switches from three-dimensional positioning to two-dimensional positioning, the altitude data calibration unit 18 uses the latest altitude data in the GPS positioning data DG to calculate the relative altitude data Z2 of the barometric altimeter 13. Calibrate. Therefore, the absolute altitude data Z based on the barometric altimeter 13
A is more accurate, and the current position data output section 1
5 can output more accurate current position data DPOS.

【００２７】また、上記較正動作は、気圧高度計の欠点
を補うことをも意味する。すなわち、気圧高度計は大気
圧を測定することにより基準位置からの相対的な高度を
得るものであるため、測定時の温度または天候状態に左
右され、正しい高度を出力できないという欠点を有する
。しかしながら、上述のようにＧＰＳレシーバの３次元
測位による最新の高度データを用いて較正されるので、
より正確な高度データを出力することができるからであ
る。The above calibration operation is also meant to compensate for the deficiencies of the barometric altimeter. That is, since a barometric altimeter obtains a relative altitude from a reference position by measuring atmospheric pressure, it has the disadvantage that it is affected by the temperature or weather conditions at the time of measurement and cannot output a correct altitude. However, as mentioned above, since it is calibrated using the latest altitude data obtained from 3D positioning of the GPS receiver,
This is because more accurate altitude data can be output.

【００２８】以上の第２実施例では３次元測位から２次
元測位に切替わった際に、気圧高度計の較正を行ってい
たが、３次元測位中であっても常時または所定時間間隔
毎に較正を行うように構成してもよい。In the second embodiment described above, the barometric altimeter is calibrated when switching from three-dimensional positioning to two-dimensional positioning, but even during three-dimensional positioning, the pressure altimeter is calibrated constantly or at predetermined time intervals. It may be configured to perform the following.

【００２９】第３実施例 図６に第２の発明にかかるＧＰＳ測位装置を車載用のナ
ビゲーションシステムに適用した場合の基本構成ブロッ
ク図を示す。Third Embodiment FIG. 6 shows a basic configuration block diagram when the GPS positioning device according to the second invention is applied to an on-vehicle navigation system.

【００３０】ナビゲーションシステム３０は、ＧＰＳレ
シーバ１１がＧＰＳアンテナ１２を介してＧＰＳ衛星か
らの電波を受信し、緯度データ、経度データ、高度デー
タ等を含むＧＰＳ測位データＤＧ　を出力する。また、
ＣＤ−ＲＯＭ３２にはあらかじめ緯度データ、経度デー
タに対応する高度データ、例えば、主要道路の数ｋｍ毎
の高度データＨＤ　が記憶されており、ＣＤ−ＲＯＭド
ライブ３１は、ＣＤ−ＲＯＭ３２から地図データＭを読
み出す際に、現在の緯度データ、経度データに最も近い
地点の高度データＨＤ　あるいは複数の地点の高度デー
タＨＤ　を読出して出力する。現在位置データ出力部３
２は、ＧＰＳレシーバ１１が２次元測位しか行えない場
合には、ＣＤ−ＲＯＭドライブ３１により出力される高
度データＨＤ　若しくは高度データＨＤ　に基づいて演
算を行い得られた高度データ並びにＧＰＳレシーバ１１
により出力される緯度データおよび経度データを現在位
置データＤＰＯＳ　として出力する。したがって、常に
正しい現在位置データＤＰＯＳ　を出力することが可能
となる。この場合において、ＧＰＳレシーバ、ＣＤ−Ｒ
ＯＭドライブおよび現在位置データ出力部は、ＧＰＳ測
位装置として機能している。In the navigation system 30, a GPS receiver 11 receives radio waves from a GPS satellite via a GPS antenna 12, and outputs GPS positioning data DG including latitude data, longitude data, altitude data, etc. Also,
The CD-ROM 32 stores in advance altitude data corresponding to latitude data and longitude data, for example, altitude data HD for every few kilometers of major roads, and the CD-ROM drive 31 stores map data M from the CD-ROM 32. When reading, the altitude data HD of the point closest to the current latitude data and longitude data or the altitude data HD of a plurality of points is read out and output. Current position data output section 3
2, when the GPS receiver 11 can only perform two-dimensional positioning, the altitude data and the GPS receiver 11 are calculated based on the altitude data HD output by the CD-ROM drive 31 or the altitude data HD.
The latitude data and longitude data output by is output as current position data DPOS. Therefore, it is possible to always output correct current position data DPOS. In this case, the GPS receiver, CD-R
The OM drive and current position data output section function as a GPS positioning device.

【００３１】この現在位置データＤＰＯＳ　に基づきコ
ントローラ３４は、ＧＰＳレシーバ１１が３次元測位可
能な場合には、ＧＰＳレシーバ１１のＧＰＳ測位データ
ＤＧ　に基づいてＣＤ−ＲＯＭドライブ３１より読出し
た地図データＭとマップマッチングを行って、ディスプ
レイ１７に自車位置を地図上に表示するための表示デー
タを出力する。一方、ＧＰＳレシーバ１１が２次元測位
しかできない場合にはＧＰＳレシーバから出力される緯
度データ、経度データ並びにＣＤ−ＲＯＭドライブによ
り出力される高度データＨＤ　に基づいて、ディスプレ
イ１７に自車位置を地図上に表示するための表示データ
を出力する。したがってディスプレイ１７には、緯度デ
ータおよび経度データに基づく自車位置が表示され、高
度データが数字等で表示される。Based on this current position data DPOS, the controller 34 outputs the map data M read from the CD-ROM drive 31 based on the GPS positioning data DG of the GPS receiver 11 when the GPS receiver 11 is capable of three-dimensional positioning. Map matching is performed and display data for displaying the own vehicle position on the map is output to the display 17. On the other hand, when the GPS receiver 11 is capable of only two-dimensional positioning, the vehicle position is displayed on the display 17 on the map based on latitude data, longitude data output from the GPS receiver, and altitude data HD output from the CD-ROM drive. Output the display data to be displayed on. Therefore, the display 17 displays the vehicle position based on the latitude data and longitude data, and the altitude data is displayed in numbers or the like.

【００３２】[0032]

【発明の効果】第１の発明によれば、ＧＰＳ測位手段が
２次元測位しか行えないような場合でも、相対高度デー
タ検出手段により検出される相対高度データを用いて、
正しい高度データを得ることができ、常に正しい現在位
置データを得ることができるという効果を奏する。According to the first invention, even when the GPS positioning means can only perform two-dimensional positioning, the relative altitude data detected by the relative altitude data detection means can be used to
This has the effect of being able to obtain correct altitude data and always obtaining correct current position data.

【００３３】第２の発明によれば、ＧＰＳ測位手段が２
次元測位しか行えないような場合でも、高度データ記憶
手段に記憶されている高度データを用いて、常に正しい
現在位置データを得ることができるという効果を奏する
。According to the second invention, the GPS positioning means has two
Even in a case where only dimensional positioning is possible, it is possible to always obtain accurate current position data using the altitude data stored in the altitude data storage means.

【図面の簡単な説明】[Brief explanation of the drawing]

【図１】第１の発明の原理説明図である。FIG. 1 is a diagram explaining the principle of a first invention.

【図２】第２の発明の原理説明図である。FIG. 2 is a diagram explaining the principle of the second invention.

【図３】第１実施例の基本構成を示すブロック図である
。FIG. 3 is a block diagram showing the basic configuration of the first embodiment.

【図４】第１実施例の動作フローチャートである。FIG. 4 is an operation flowchart of the first embodiment.

【図５】第２実施例の基本構成を示すブロック図である
。FIG. 5 is a block diagram showing the basic configuration of a second embodiment.

【図６】第３実施例の基本構成を示すブロック図である
。FIG. 6 is a block diagram showing the basic configuration of a third embodiment.

【図７】従来のＧＰＳ測位装置の動作フローチャートで
ある。FIG. 7 is an operation flowchart of a conventional GPS positioning device.

【符号の説明】[Explanation of symbols]

１０、２０、３０…ナビゲーションシステム１１…ＧＰ
Ｓレシーバ １２…ＧＰＳアンテナ １３…気圧高度計 １４、３４…コントローラ １５、３３…現在位置データ出力部 １６…ＣＤ−ＲＯＭドライブ １７…ディスプレイ １８…高度データ較正部 ３２…ＣＤ−ＲＯＭ １００、２００…ＧＰＳ測位装置 １０１、２０１…ＧＰＳ測位手段 １０２…相対高度検出手段 １０３、２０３…現在位置演算手段 ２０２…高度データ記憶手段 ＤＧ２…２次元測位ＧＰＳ測位データ ＤＨ　…高度データ ＤＬＡ…緯度データ ＤＬＯ…経度データ ＤＰＯＳ　…現在位置データ ＨＣ　…相対高度データ ＤＧ　…ＧＰＳ測位データ10, 20, 30...Navigation system 11...GP
S receiver 12...GPS antenna 13...Barometric altimeter 14, 34...Controller 15, 33...Current position data output section 16...CD-ROM drive 17...Display 18...Altitude data calibration section 32...CD-ROM 100, 200...GPS positioning Devices 101, 201...GPS positioning means 102...Relative altitude detection means 103, 203...Current position calculation means 202...Altitude data storage means DG2...Two-dimensional positioning GPS positioning data DH...Altitude data DLA...Latitude data DLO...Longitude data DPOS... Current position data HC…Relative altitude data DG…GPS positioning data

Claims (3)

【特許請求の範囲】[Claims] 【請求項１】　　ＧＰＳ衛星からの電波を受信して、自
己の現在位置を測定してＧＰＳ測位データを出力するＧ
ＰＳ測位手段と、前記自己の現在位置の相対高度を検出
し相対高度データを出力する相対高度検出手段と、前記
ＧＰＳ測位手段が２次元測位のＧＰＳ測位データを出力
している場合に、前記２次元測位のＧＰＳ測位データお
よび前記相対高度データに基づいて現在位置データを演
算し出力する現在位置演算手段と、を備えたことを特徴
とするＧＰＳ測位装置。[Claim 1] A G that receives radio waves from a GPS satellite, measures its current position, and outputs GPS positioning data.
PS positioning means, relative altitude detection means for detecting the relative altitude of the self's current position and outputting relative altitude data, and when the GPS positioning means outputs GPS positioning data of two-dimensional positioning, the above two A GPS positioning device comprising: current position calculation means for calculating and outputting current position data based on GPS positioning data of dimensional positioning and the relative altitude data. 【請求項２】　　請求項１記載のＧＰＳ測位装置におい
て、前記現在位置演算手段は、前記ＧＰＳ測位手段が３
次元測位から２次元測位に切替わった場合に、前回の３
次元測位時に出力されたＧＰＳ測位データ中の高度デー
タを用いて、前記相対高度データを較正することを特徴
とするＧＰＳ測位装置。2. The GPS positioning device according to claim 1, wherein the current position calculation means is configured such that the GPS positioning means
When switching from dimensional positioning to 2D positioning, the previous 3
A GPS positioning device characterized in that the relative altitude data is calibrated using altitude data in the GPS positioning data output during dimensional positioning. 【請求項３】　　ＧＰＳ衛星からの電波を受信して、緯
度データおよび経度データを含むＧＰＳ測位データを出
力するＧＰＳ測位手段と、前記緯度データおよび前記経
度データに対応する高度データを記憶する高度データ記
憶手段と、前記ＧＰＳ測位手段が２次元測位を行ってい
る場合に、前記緯度データおよび前記経度データに基づ
いて、前記高度データ記憶手段から前記高度データを読
み出し、現在位置データを出力する現在位置演算手段と
、を備えたことを特徴とするＧＰＳ測位装置。3. GPS positioning means for receiving radio waves from a GPS satellite and outputting GPS positioning data including latitude data and longitude data; and altitude data for storing altitude data corresponding to the latitude data and longitude data. a current position for reading the altitude data from the altitude data storage means and outputting current position data based on the latitude data and the longitude data when the GPS positioning means is performing two-dimensional positioning; A GPS positioning device comprising a calculation means.
JP3146039A 1991-06-18 1991-06-18 Gps position measurement device Pending JPH04369492A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP3146039A JPH04369492A (en) 1991-06-18 1991-06-18 Gps position measurement device
US07/897,710 US5210540A (en) 1991-06-18 1992-06-12 Global positioning system
DE4219929A DE4219929B4 (en) 1991-06-18 1992-06-17 Global positioning system
GB9213105A GB2256987B (en) 1991-06-18 1992-06-17 Global positioning system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3146039A JPH04369492A (en) 1991-06-18 1991-06-18 Gps position measurement device

Publications (1)

Publication Number Publication Date
JPH04369492A true JPH04369492A (en) 1992-12-22

Family

ID=15398726

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3146039A Pending JPH04369492A (en) 1991-06-18 1991-06-18 Gps position measurement device

Country Status (4)

Country Link
US (1) US5210540A (en)
JP (1) JPH04369492A (en)
DE (1) DE4219929B4 (en)
GB (1) GB2256987B (en)

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